Build Options

If you are building OMPL from source, there are several options that you can use to configure how OMPL is compiled. The options can be set via the command line like so: cmake -D<option>=ON ../... If you previously ran cmake in your build directory, it is safest to remove the CMakeCache.txt before re-running cmake with different options. Below is a list of all options.

Option Default value Description
OMPL_BUILD_DEMOS ON Compile the OMPL demo programs. (The binaries are never installed.)
OMPL_BUILD_PYBINDINGS ON Whether to compile the Python bindings (requires Py++).
OMPL_BUILD_PYTESTS ON Whether the Python tests should be added to the test target.
OMPL_BUILD_TESTS ON Wether to compile the C++ unit tests
OMPL_REGISTRATION ON Whether the registration page is shown. (Disabling it might be useful for build bots.)
OMPL_VERSIONED_INSTALL OFF Install header files in include/ompl-X.Y/ompl, where X and Y are the major and minor version numbers.

There also several optional dependencies. By default, if an optional dependency is detected by cmake, support for this dependency is enabled. If this is not what you want, you can run cmake like so:

 cmake -DCMAKE_DISABLE_FIND_PACKAGE_<PackageName> ../..

where <PackageName> is, e.g., pypy, flann, spot, etc.